CN108591148B - Accurate control method of hydraulic engineering equipment - Google Patents
Accurate control method of hydraulic engineering equipment Download PDFInfo
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- CN108591148B CN108591148B CN201810521378.4A CN201810521378A CN108591148B CN 108591148 B CN108591148 B CN 108591148B CN 201810521378 A CN201810521378 A CN 201810521378A CN 108591148 B CN108591148 B CN 108591148B
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- 230000007246 mechanism Effects 0.000 claims abstract description 90
- 239000007788 liquid Substances 0.000 claims abstract description 33
- 230000033001 locomotion Effects 0.000 claims description 35
- 238000010276 construction Methods 0.000 description 12
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- 238000010586 diagram Methods 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 2
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- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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Abstract
The invention provides a method for accurately controlling hydraulic engineering equipment, which comprises the following steps: providing a first hydraulic pump and a second hydraulic pump; providing a first priority control valve; providing a second priority control valve, wherein the first priority control valve and the second priority control valve are simultaneously connected with the first hydraulic pump; providing a rotary hydraulic mechanism control valve which is connected with a first priority control valve; providing a rotary hydraulic mechanism; providing a linear action oil cylinder control valve which is connected with a second hydraulic pump; providing a plurality of linear actuating oil cylinders, wherein the plurality of linear actuating oil cylinders are simultaneously controlled by a second priority control valve and a linear actuating oil cylinder control valve; providing a liquid pressure sensor of the slewing mechanism; providing a first feedback element which is electrically connected with the slewing mechanism liquid pressure sensor and is used for feeding back the sensed hydraulic value in the slewing hydraulic mechanism to the programmable controller; the first priority control valve is used for preferentially providing the oil liquid provided by the first hydraulic pump to the control valve of the rotary hydraulic mechanism based on the operation signal.
Description
Technical Field
The invention relates to the field of hydraulic control methods, in particular to an accurate control method of hydraulic engineering equipment.
Background
With the increasing speed of city construction in China and the increasing scale of the construction of basic civil engineering such as roads, railways, water conservancy and the like, universal engineering machinery such as excavators, overhead working trucks, automobile cranes and the like are widely applied, and are necessary or deficient large engineering equipment in the modern construction process. The use of the engineering machinery can help to reduce the participation degree of manpower and material resources, reduce the probability of safety accidents, accord with the people-oriented construction idea, and meanwhile, the use of the engineering machinery can greatly improve the construction operation efficiency and assist constructors to complete complex and high-difficulty construction operation. The universal engineering machinery is characterized by comprising a plurality of actuating mechanisms, for example, an excavator consists of a large arm, a bucket rod, a bucket and a rotary table, and the motions of the actuating mechanisms are respectively controlled to realize construction operations such as combined excavation, linear leveling and the like; the overhead working truck is provided with a plurality of sections of Z-shaped folding arms, and the construction personnel are moved to the appointed construction position through the combined control of the sections of arms.
However, the automation degree of the existing engineering machinery is low, the construction process is carried out in a manual mode, the movement direction and speed of a single actuating mechanism are determined by poking the direction and the position of the control handle, and the movement of the actuating mechanisms is independent. For example, the boom luffing and telescoping control of an automobile crane is realized by a plurality of hydraulic pilot handles, the boom movement in equipment such as a concrete pump truck, a bridge inspection truck and an overhead working truck is realized by an electro-hydraulic pilot mode, a plurality of rocker levers on a remote controller panel are used for sending a driving instruction, and a receiver outputs a proportional valve control signal according to a corresponding instruction so as to drive the corresponding executing mechanism to act. Although the manual control mode is simple and intuitive to realize, the manual control mode needs the assistance of manpower and material resources, the improvement of the construction efficiency and the whole construction level is seriously restricted, and meanwhile, safety accidents are easily caused. The published 'Chinese manufacturing 2025' plan elaborates the general ministry and guidance opinions of the country on the automation and intellectualization of the manufacturing industry, so that the automation of engineering equipment is not only a necessary trend of the industry development, but also becomes a necessary requirement of the times development. Focusing on the Henan province, the province and the Chinese province give guidance suggestions aiming at the development of the manufacturing industry and promote the fusion development of the manufacturing industry and the Internet, so that the engineering machinery inevitably moves towards the direction of automation and intellectualization. To realize the automation of engineering machinery and obtain engineering application, the servo control problem of a strong nonlinear electro-hydraulic control system and the cooperative control of multiple actuating mechanisms are required to be solved, and the key points of the automation realization are realized.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide a method for accurately controlling hydraulic engineering equipment, so that the defects of the prior art are overcome.
The invention provides a method for accurately controlling hydraulic engineering equipment, which comprises the following steps: providing a first hydraulic pump and a second hydraulic pump; providing a first priority control valve; providing a second priority control valve, wherein the first priority control valve and the second priority control valve are simultaneously connected with the first hydraulic pump; providing a rotary hydraulic mechanism control valve, wherein the rotary hydraulic mechanism control valve is connected with a first priority control valve; providing a rotary hydraulic mechanism, wherein the rotary hydraulic mechanism is controlled by a control valve of the rotary hydraulic mechanism; providing a linear action oil cylinder control valve, wherein the linear action oil cylinder control valve is connected with a second hydraulic pump; providing a plurality of linear actuating oil cylinders, wherein the plurality of linear actuating oil cylinders are simultaneously controlled by a second priority control valve and a linear actuating oil cylinder control valve; providing a slewing mechanism liquid pressure sensor, wherein the slewing mechanism liquid pressure sensor is used for sensing a hydraulic numerical value in a slewing hydraulic mechanism; providing a first feedback element, wherein the first feedback element is electrically connected with the slewing mechanism liquid pressure sensor and is used for feeding back the sensed hydraulic value in the slewing hydraulic mechanism to the programmable controller; the first priority control valve is used for preferentially providing the oil liquid provided by the first hydraulic pump to the control valve of the rotary hydraulic mechanism based on the operation signal.
Preferably, in the above technical solution, the plurality of linear actuation cylinders include: the first linear motion oil cylinder, the second linear motion oil cylinder, the third linear motion oil cylinder and the fourth linear motion oil cylinder.
Preferably, in the above technical solution, the control method includes: providing a first hydraulic pressure sensor, wherein the first hydraulic pressure sensor is used for sensing a hydraulic numerical value in a first linear actuating cylinder; providing a second liquid pressure sensor, wherein the second liquid pressure sensor is used for sensing a hydraulic numerical value in a second linear motion oil cylinder; providing a third hydraulic pressure sensor, wherein the third hydraulic pressure sensor is used for sensing a hydraulic numerical value in a third linear actuating oil cylinder; and providing a fourth hydraulic pressure sensor, wherein the fourth hydraulic pressure sensor is used for sensing the hydraulic numerical value in the fourth linear actuating cylinder.
Preferably, in the above technical solution, the control method includes: providing a second feedback element, wherein the second feedback element is used for feeding back the sensed hydraulic value in the first linear actuating cylinder and the sensed hydraulic value in the second linear actuating cylinder to the programmable controller; and providing a third feedback element for feeding back the sensed hydraulic values in the third linear actuation cylinder and the sensed hydraulic values in the fourth linear actuation cylinder to the programmable controller.
Preferably, in the above technical solution, the control method includes: providing a first amplifier, a second amplifier and a third amplifier; the first amplifier, the second amplifier and the third amplifier are respectively electrically connected with the programmable controller; and wherein the programmable controller generates first, second and third control signals for the first, second and third amplifiers, respectively, based on the hydraulic values fed back by the first, second and third feedback elements in combination with a predetermined target hydraulic value.
Preferably, in the above aspect, the first amplifier is electrically connected to the linear operation cylinder control valve, and the linear operation cylinder control valve is capable of controlling the state of the oil supplied to the first, second, third, and fourth linear operation cylinders based on the first control signal.
Preferably, in the above technical solution, the second amplifier is electrically connected to a rotary hydraulic mechanism control valve, and the rotary hydraulic mechanism control valve can control a state of the oil supplied to the rotary hydraulic mechanism based on the second control signal.
Preferably, in the above technical solution, the third amplifier is connected to the first hydraulic pump and the second hydraulic pump, and the first hydraulic pump and the second hydraulic pump can control a state of the oil supplied to the first priority control valve, the second priority control valve, and the linear cylinder control valve based on a third control signal.
Compared with the prior art, the accurate control method of the hydraulic engineering equipment has the following beneficial effects: through the research of the inventor, the hydraulic system in the prior art has the following defects: there are strong non-linearities (e.g., dead zones) and parameter uncertainty issues. In order to solve the problems in the prior art, the invention provides a novel accurate control method of hydraulic engineering equipment, the control method has strong expandability, and the control method can be widely applied to various engineering equipment (such as concrete pump truck arm frame motion control, coordinated motion control of arms of an excavator or multi-arm coordinated motion control of an overhead working truck). By the hydraulic control method and the hydraulic control system, the invention can realize that: 1. accurate, continuous and stable motion control; 2. frequent reversing of a proportional valve introduced by direct superposition compensation in an interference environment is avoided, reversing frequency is reduced, and motion control performance is optimized; 3. and (4) optimizing the motion control performance of each actuating mechanism by considering the factors of uncertain parameters of the system and the like.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic diagram of a hydraulic control system according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The control method and the control system can be used for any kind of engineering equipment, for example, the hydraulic control system and the hydraulic control method can be used for controlling the motion of a concrete pump truck arm frame, the coordinated motion control of all sections of arms of an excavator or the coordinated motion control of multiple arms of an aerial work truck.
Example 1
An arm support of a concrete pump truck. The concrete pump truck cantilever crane control method provided by the invention comprises the following steps: providing a first hydraulic pump and a second hydraulic pump; providing a first priority control valve; providing a second priority control valve, wherein the first priority control valve and the second priority control valve are simultaneously connected with the first hydraulic pump; providing a rotary hydraulic mechanism control valve, wherein the rotary hydraulic mechanism control valve is connected with a first priority control valve; providing a rotary hydraulic mechanism, wherein the rotary hydraulic mechanism is controlled by a control valve of the rotary hydraulic mechanism; providing a linear action oil cylinder control valve, wherein the linear action oil cylinder control valve is connected with a second hydraulic pump; providing a plurality of linear actuating oil cylinders, wherein the plurality of linear actuating oil cylinders are simultaneously controlled by a second priority control valve and a linear actuating oil cylinder control valve; providing a slewing mechanism liquid pressure sensor, wherein the slewing mechanism liquid pressure sensor is used for sensing a hydraulic numerical value in a slewing hydraulic mechanism; providing a first feedback element, wherein the first feedback element is electrically connected with the slewing mechanism liquid pressure sensor and is used for feeding back a sensed hydraulic value in the slewing hydraulic mechanism to the programmable controller; the first priority control valve is used for preferentially providing the oil liquid provided by the first hydraulic pump to the control valve of the rotary hydraulic mechanism based on the operation signal.
Example 2
An excavator using the control method of the present invention. The control method comprises the following steps: providing a first hydraulic pump and a second hydraulic pump; providing a first priority control valve; providing a second priority control valve, wherein the first priority control valve and the second priority control valve are simultaneously connected with the first hydraulic pump; providing a rotary hydraulic mechanism control valve, wherein the rotary hydraulic mechanism control valve is connected with a first priority control valve; providing a rotary hydraulic mechanism, wherein the rotary hydraulic mechanism is controlled by a control valve of the rotary hydraulic mechanism; providing a linear action oil cylinder control valve, wherein the linear action oil cylinder control valve is connected with a second hydraulic pump; providing a plurality of linear actuating oil cylinders, wherein the plurality of linear actuating oil cylinders are simultaneously controlled by a second priority control valve and a linear actuating oil cylinder control valve; providing a slewing mechanism liquid pressure sensor, wherein the slewing mechanism liquid pressure sensor is used for sensing a hydraulic numerical value in a slewing hydraulic mechanism; providing a first feedback element, wherein the first feedback element is electrically connected with the slewing mechanism liquid pressure sensor and is used for feeding back a sensed hydraulic value in the slewing hydraulic mechanism to the programmable controller; the first priority control valve is used for preferentially providing the oil liquid provided by the first hydraulic pump to the control valve of the rotary hydraulic mechanism based on the operation signal. The plurality of linear motion cylinders include: the first linear motion oil cylinder, the second linear motion oil cylinder, the third linear motion oil cylinder and the fourth linear motion oil cylinder. The control method comprises the following steps: providing a first hydraulic pressure sensor, wherein the first hydraulic pressure sensor is used for sensing a hydraulic numerical value in a first linear actuating cylinder; providing a second liquid pressure sensor, wherein the second liquid pressure sensor is used for sensing a hydraulic numerical value in a second linear motion oil cylinder; providing a third hydraulic pressure sensor, wherein the third hydraulic pressure sensor is used for sensing a hydraulic numerical value in a third linear actuating oil cylinder; and providing a fourth hydraulic pressure sensor, wherein the fourth hydraulic pressure sensor is used for sensing the hydraulic numerical value in the fourth linear actuating cylinder.
Example 3
An overhead working truck, which uses the control method of the invention. The control method comprises the following steps: providing a first hydraulic pump and a second hydraulic pump; providing a first priority control valve; providing a second priority control valve, wherein the first priority control valve and the second priority control valve are simultaneously connected with the first hydraulic pump; providing a rotary hydraulic mechanism control valve, wherein the rotary hydraulic mechanism control valve is connected with a first priority control valve; providing a rotary hydraulic mechanism, wherein the rotary hydraulic mechanism is controlled by a control valve of the rotary hydraulic mechanism; providing a linear action oil cylinder control valve, wherein the linear action oil cylinder control valve is connected with a second hydraulic pump; providing a plurality of linear actuating oil cylinders, wherein the plurality of linear actuating oil cylinders are simultaneously controlled by a second priority control valve and a linear actuating oil cylinder control valve; providing a slewing mechanism liquid pressure sensor, wherein the slewing mechanism liquid pressure sensor is used for sensing a hydraulic numerical value in a slewing hydraulic mechanism; providing a first feedback element, wherein the first feedback element is electrically connected with the slewing mechanism liquid pressure sensor and is used for feeding back a sensed hydraulic value in the slewing hydraulic mechanism to the programmable controller; the first priority control valve is used for preferentially providing the oil liquid provided by the first hydraulic pump to the control valve of the rotary hydraulic mechanism based on the operation signal. The control method comprises the following steps: providing a second feedback element, wherein the second feedback element is used for feeding back the sensed hydraulic value in the first linear actuating cylinder and the sensed hydraulic value in the second linear actuating cylinder to the programmable controller; and providing a third feedback element for feeding back the sensed hydraulic values in the third linear actuation cylinder and the sensed hydraulic values in the fourth linear actuation cylinder to the programmable controller. The control method comprises the following steps: providing a first amplifier, a second amplifier and a third amplifier; the first amplifier, the second amplifier and the third amplifier are respectively electrically connected with the programmable controller; and wherein the programmable controller generates first, second and third control signals for the first, second and third amplifiers, respectively, based on the hydraulic values fed back by the first, second and third feedback elements in combination with a predetermined target hydraulic value. The first amplifier is electrically connected to the linear actuator cylinder control valve, and the linear actuator cylinder control valve can control the state of the oil supplied to the first, second, third, and fourth linear actuator cylinders based on a first control signal. The second amplifier is electrically connected with the rotary hydraulic mechanism control valve, and the rotary hydraulic mechanism control valve can control the state of oil liquid provided for the rotary hydraulic mechanism based on a second control signal. The third amplifier is connected to the first hydraulic pump and the second hydraulic pump, and the first hydraulic pump and the second hydraulic pump can control the state of the oil supplied to the first priority control valve, the second priority control valve, and the linear cylinder control valve based on a third control signal.
Example 4
FIG. 1 is a schematic diagram of a hydraulic control system according to an embodiment of the present invention. The hydraulic control system can be used for controlling the hydraulic assembly of the shield tunneling machine. As shown in fig. 1, the hydraulic control system of the present invention includes: a first hydraulic pump 1 and a second hydraulic pump 2, the first hydraulic pump 1 and the second hydraulic pump 2 being driven by a power plant 24; a first priority control valve 3; a second priority control valve 4, wherein the first priority control valve 3 and the second priority control valve 4 are connected to the first hydraulic pump 1 at the same time; the rotary hydraulic mechanism control valve 5 is connected with the first priority control valve 5; the rotary hydraulic mechanism 8, the rotary hydraulic mechanism 8 is controlled by the control valve of the rotary hydraulic mechanism; the linear motion oil cylinder control valve 6, the linear motion oil cylinder control valve 6 is connected with the second hydraulic pump; the linear actuating cylinders are controlled by the second priority control valve and the linear actuating cylinder control valve at the same time; the slewing mechanism liquid pressure sensor 7 is used for sensing a hydraulic numerical value in the slewing hydraulic mechanism, and the slewing mechanism liquid pressure sensor 7 is used for sensing a hydraulic numerical value in the slewing hydraulic mechanism; the first feedback element 9 is electrically connected with the slewing mechanism liquid pressure sensor and is used for feeding back a sensed hydraulic value in the slewing hydraulic mechanism to the programmable controller 10; the first priority control valve is used for giving priority to oil of the first hydraulic pump to the control valve of the rotary hydraulic mechanism based on the operation signal.
Example 5
FIG. 1 is a schematic diagram of a hydraulic control system according to an embodiment of the present invention. The hydraulic control system may be used for control of a crane assembly. In addition to the system components included in embodiment 4, the system of embodiment 5 further includes: preferably, in the above technical solution, it is characterized in that: the plurality of linear motion cylinders include: a first linear actuation cylinder 11, a second linear actuation cylinder 12, a third linear actuation cylinder 13, and a fourth linear actuation cylinder 14. The control method comprises the following steps: the first hydraulic pressure sensor 15 is used for sensing a hydraulic numerical value in the first linear motion oil cylinder; a second liquid pressure sensor 16 for sensing a hydraulic value in the second linear actuation cylinder; a third hydraulic pressure sensor 17 for sensing a hydraulic pressure value in the third linear actuation cylinder; and a fourth hydraulic pressure sensor 18 for sensing a hydraulic pressure value in the fourth linear actuation cylinder. The control method comprises the following steps: a second feedback element 19 for feeding back the sensed hydraulic values in the first and second linear actuation cylinders to the programmable controller; and a third feedback element 20 for feeding back the sensed hydraulic pressure value in the third linear actuation cylinder and the sensed hydraulic pressure value in the fourth linear actuation cylinder to the programmable controller. The control method comprises the following steps: a first amplifier 21, a second amplifier 22, and a third amplifier 23; the first amplifier, the second amplifier and the third amplifier are respectively electrically connected with the programmable controller; and wherein the programmable controller generates first, second and third control signals for the first, second and third amplifiers, respectively, based on the hydraulic values fed back by the first, second and third feedback elements in combination with a predetermined target hydraulic value. The first amplifier is electrically connected to the linear actuation cylinder control valve, and the linear actuation cylinder control valve can control the state of the oil to the first, second, third, and fourth linear actuation cylinders based on a first control signal. The second amplifier is electrically connected to the rotary hydraulic mechanism control valve, and the rotary hydraulic mechanism control valve can control the state of the oil to the rotary hydraulic mechanism based on a second control signal. The third amplifier is connected to the first hydraulic pump and the second hydraulic pump, and the first hydraulic pump and the second hydraulic pump can control the state of the oil to the first priority control valve, the second priority control valve, and the linear cylinder control valve based on a third control signal.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (1)
1. A precise control method of hydraulic engineering equipment is characterized in that,
the pump system of hydraulic engineering equipment includes:
providing a first hydraulic pump and a second hydraulic pump; providing a first priority control valve;
providing a second priority control valve, wherein the first priority control valve and the second priority control valve are simultaneously connected with the first hydraulic pump; providing a rotary hydraulic mechanism control valve, wherein the rotary hydraulic mechanism control valve is connected with the first priority control valve; providing a rotary hydraulic mechanism, wherein the rotary hydraulic mechanism is controlled by a control valve of the rotary hydraulic mechanism; providing a linear acting oil cylinder control valve, wherein the linear acting oil cylinder control valve is connected with the second hydraulic pump; providing a plurality of linear motion cylinders, wherein the plurality of linear motion cylinders are simultaneously controlled by the second priority control valve and the linear motion cylinder control valve; providing a slewing mechanism liquid pressure sensor, wherein the slewing mechanism liquid pressure sensor is used for sensing a hydraulic numerical value in the slewing hydraulic mechanism; providing a first feedback element, wherein the first feedback element is electrically connected with the slewing mechanism liquid pressure sensor and is used for feeding back the sensed hydraulic value in the slewing hydraulic mechanism to the programmable controller;
wherein the first priority control valve is configured to preferentially supply the oil supplied from the first hydraulic pump to the swing hydraulic mechanism control valve based on an operation signal, and the plurality of linear actuation cylinders include: a first linear motion oil cylinder, a second linear motion oil cylinder, a third linear motion oil cylinder and a fourth linear motion oil cylinder,
the control method comprises the following steps:
providing a first hydraulic pressure sensor, wherein the first hydraulic pressure sensor is used for sensing a hydraulic numerical value in the first linear actuating cylinder;
providing a second liquid pressure sensor, wherein the second liquid pressure sensor is used for sensing a hydraulic numerical value in the second linear acting cylinder;
providing a third hydraulic pressure sensor for sensing a hydraulic pressure value within the third linear actuation cylinder; and
providing a fourth hydraulic pressure sensor for sensing a hydraulic value in the fourth linear actuation cylinder, the control method comprising:
providing a second feedback element for feeding back the sensed hydraulic values in the first and second linear actuation cylinders to the programmable controller; and
providing a third feedback element for feeding back the sensed hydraulic pressure values in the third linear actuation cylinder and the fourth linear actuation cylinder to the programmable controller, the control method comprising:
providing a first amplifier, a second amplifier and a third amplifier;
the first amplifier, the second amplifier and the third amplifier are respectively electrically connected with the programmable controller; and wherein the programmable controller generates first, second, and third control signals for the first, second, and third amplifiers, respectively, based on the hydraulic pressure values fed back by the first, second, and third feedback elements, in conjunction with a predetermined target hydraulic pressure value, wherein the first amplifier is electrically connected to the linear-acting cylinder control valve, the linear-acting cylinder control valve is capable of controlling the state of the oil supplied to the first, second, third, and fourth linear-acting cylinders based on the first control signal, wherein the second amplifier is electrically connected to the swing hydraulic mechanism control valve, and the swing hydraulic mechanism control valve is capable of being based on the second control signal, and the third amplifier is connected with the first hydraulic pump and the second hydraulic pump, and the first hydraulic pump and the second hydraulic pump can control the state of the oil supplied to the first priority control valve, the second priority control valve and the linear action oil cylinder control valve based on the third control signal.
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| CN104998847B (en) * | 2014-09-10 | 2017-08-25 | 国家电网公司 | A kind of system that sprays water with high pressure for living water washing robot of transformer station |
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Effective date of registration: 20231208 Address after: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Dragon totem Technology (Hefei) Co.,Ltd. Address before: No. 699, plain road, Xinxiang, Henan, Henan Patentee before: HENAN INSTITUTE OF TECHNOLOGY |
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